Real-Time Nonlinear MPC via Sequential Quadratic Programming with Structure-Exploiting ADMM and Interior-Point Methods for Underactuated Double-Pendulum Swing-Up

原文アブストラクト

The 4th "AI Olympics with RealAIGym" competition, to be held at IJCAI-ECAI 2026 in Bremen, challenges participants to develop a global control policy for swinging up and stabilizing an underactuated two-link system in its upright position. In contrast to previous editions, participants develop and evaluate their control strategies directly on remotely accessible CloudPendulum hardware, with limited interaction time and without prior knowledge of the system's model parameters. This paper presents an optimal-control-based approach employing real-time nonlinear model predictive control implemented using sequential quadratic programming. The results demonstrate that the proposed SQP-based MPC controller achieves reliable swing-up and stabilization performance, while maintaining robustness against disturbances.